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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
489 | killagreg | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 56 | //#define MCLK96MHZ |
1 | ingob | 57 | const unsigned long _Main_Crystal = 25000; |
491 | killagreg | 58 | //#include <stdio.h> |
41 | ingob | 59 | #include "91x_lib.h" |
60 | #include "led.h" |
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61 | #include "uart0.h" |
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62 | #include "uart1.h" |
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63 | #include "uart2.h" |
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215 | killagreg | 64 | #include "gps.h" |
489 | killagreg | 65 | #include "i2c.h" |
242 | killagreg | 66 | #include "compass.h" |
426 | holgerb | 67 | #include "ncmag.h" |
119 | killagreg | 68 | #include "timer1.h" |
69 | #include "timer2.h" |
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134 | killagreg | 70 | #include "analog.h" |
41 | ingob | 71 | #include "spi_slave.h" |
72 | #include "fat16.h" |
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73 | #include "sdc.h" |
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82 | killagreg | 74 | #include "logging.h" |
156 | killagreg | 75 | #include "params.h" |
88 | killagreg | 76 | #include "settings.h" |
154 | killagreg | 77 | #include "config.h" |
1 | ingob | 78 | #include "main.h" |
250 | ingob | 79 | #include "debug.h" |
254 | killagreg | 80 | #include "eeprom.h" |
350 | holgerb | 81 | #include "ssc.h" |
362 | holgerb | 82 | #include "sdc.h" |
380 | holgerb | 83 | #include "uart1.h" |
254 | killagreg | 84 | |
427 | killagreg | 85 | |
489 | killagreg | 86 | |
314 | killagreg | 87 | #ifdef FOLLOW_ME |
88 | u8 TransmitAlsoToFC = 0; |
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89 | #endif |
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41 | ingob | 90 | u32 TimerCheckError; |
489 | killagreg | 91 | u8 ErrorCode = 0; |
41 | ingob | 92 | u16 BeepTime; |
92 | killagreg | 93 | u8 NCFlags = 0; |
153 | killagreg | 94 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
328 | holgerb | 95 | u8 ErrorGpsFixLost = 0; |
509 | holgerb | 96 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SingePoint = 0, FromFC_Store_SingePoint = 0; |
503 | holgerb | 97 | u8 ToFC_MaxWpListIndex = 3; |
255 | killagreg | 98 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 99 | u8 StopNavigation = 0; |
378 | holgerb | 100 | volatile u32 PollingTimeout = 10000; |
41 | ingob | 101 | Param_t Parameter; |
78 | holgerb | 102 | volatile FC_t FC; |
378 | holgerb | 103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
400 | holgerb | 104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
457 | holgerb | 105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
504 | holgerb | 106 | u8 NewWPL_Name = 0; |
1 | ingob | 107 | |
41 | ingob | 108 | s8 ErrorMSG[25]; |
109 | |||
1 | ingob | 110 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 111 | void SCU_Config(void) |
1 | ingob | 112 | { |
41 | ingob | 113 | /* configure PLL and set it as master clock source */ |
114 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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115 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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116 | #ifdef MCLK96MHZ |
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117 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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118 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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119 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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120 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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121 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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122 | #else |
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123 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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124 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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125 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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126 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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127 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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128 | #endif |
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129 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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130 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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131 | } |
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1 | ingob | 132 | |
41 | ingob | 133 | //---------------------------------------------------------------------------------------------------- |
134 | void GetNaviCtrlVersion(void) |
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1 | ingob | 135 | { |
41 | ingob | 136 | u8 msg[25]; |
270 | killagreg | 137 | |
472 | holgerb | 138 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 139 | UART1_PutString(msg); |
1 | ingob | 140 | } |
141 | |||
142 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 143 | |
41 | ingob | 144 | void CheckErrors(void) |
145 | { |
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329 | holgerb | 146 | static s32 no_error_delay = 0; |
328 | holgerb | 147 | s32 newErrorCode = 0; |
232 | killagreg | 148 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 149 | |
489 | killagreg | 150 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
338 | holgerb | 151 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
231 | holgerb | 152 | |
338 | holgerb | 153 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
154 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 155 | |
338 | holgerb | 156 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
157 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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158 | |||
483 | holgerb | 159 | |
489 | killagreg | 160 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
41 | ingob | 161 | { |
489 | killagreg | 162 | LED_RED_ON; |
472 | holgerb | 163 | sprintf(ErrorMSG,"no compass communica"); |
489 | killagreg | 164 | //Reset Compass communication |
501 | holgerb | 165 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 166 | Compass_Init(); |
472 | holgerb | 167 | newErrorCode = 4; |
41 | ingob | 168 | StopNavigation = 1; |
472 | holgerb | 169 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
170 | DebugOut.StatusRed |= AMPEL_COMPASS; |
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41 | ingob | 171 | } |
488 | holgerb | 172 | else if(CompassValueErrorCount > 30) |
173 | { |
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174 | LED_RED_ON; |
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175 | sprintf(ErrorMSG,"compass sensor error"); |
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176 | newErrorCode = 34; |
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177 | StopNavigation = 1; |
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178 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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501 | holgerb | 179 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 180 | Compass_Init(); |
488 | holgerb | 181 | } |
489 | killagreg | 182 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
183 | { |
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488 | holgerb | 184 | sprintf(ErrorMSG,"Calibrate... "); |
489 | killagreg | 185 | newErrorCode = 0; |
488 | holgerb | 186 | ErrorCode = 0; |
187 | no_error_delay = 1; |
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489 | killagreg | 188 | } |
189 | else if(CheckDelay(SPI0_Timeout)) |
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483 | holgerb | 190 | { |
489 | killagreg | 191 | LED_RED_ON; |
472 | holgerb | 192 | sprintf(ErrorMSG,"no FC communication "); |
193 | newErrorCode = 3; |
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194 | StopNavigation = 1; |
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195 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
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196 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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197 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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198 | } |
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41 | ingob | 199 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
200 | { |
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201 | LED_RED_ON; |
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318 | holgerb | 202 | #ifndef FOLLOW_ME |
41 | ingob | 203 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 204 | #else |
205 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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206 | #endif |
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328 | holgerb | 207 | newErrorCode = 1; |
41 | ingob | 208 | StopNavigation = 1; |
256 | killagreg | 209 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 210 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 211 | } |
255 | killagreg | 212 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 213 | { |
214 | LED_RED_ON; |
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215 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 216 | newErrorCode = 10; |
232 | killagreg | 217 | } |
255 | killagreg | 218 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 219 | { |
220 | LED_RED_ON; |
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221 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 222 | newErrorCode = 11; |
232 | killagreg | 223 | } |
255 | killagreg | 224 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 225 | { |
226 | LED_RED_ON; |
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227 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 228 | newErrorCode = 12; |
232 | killagreg | 229 | } |
255 | killagreg | 230 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 231 | { |
232 | LED_RED_ON; |
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233 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 234 | newErrorCode = 13; |
232 | killagreg | 235 | } |
255 | killagreg | 236 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 237 | { |
238 | LED_RED_ON; |
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239 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 240 | newErrorCode = 14; |
232 | killagreg | 241 | } |
255 | killagreg | 242 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 243 | { |
244 | LED_RED_ON; |
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327 | holgerb | 245 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 246 | newErrorCode = 15; |
232 | killagreg | 247 | } |
351 | holgerb | 248 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
249 | { |
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250 | LED_RED_ON; |
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251 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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252 | newErrorCode = 28; |
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253 | } |
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255 | killagreg | 254 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 255 | { |
489 | killagreg | 256 | LED_RED_ON; |
327 | holgerb | 257 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 258 | newErrorCode = 16; |
232 | killagreg | 259 | } |
255 | killagreg | 260 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 261 | { |
262 | LED_RED_ON; |
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327 | holgerb | 263 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 264 | newErrorCode = 17; |
232 | killagreg | 265 | } |
255 | killagreg | 266 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 267 | { |
268 | LED_RED_ON; |
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269 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 270 | newErrorCode = 18; |
232 | killagreg | 271 | } |
255 | killagreg | 272 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 273 | { |
274 | LED_RED_ON; |
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275 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 276 | newErrorCode = 19; |
232 | killagreg | 277 | } |
350 | holgerb | 278 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 279 | { |
280 | LED_RED_ON; |
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350 | holgerb | 281 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
489 | killagreg | 282 | // else |
283 | { |
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284 | sprintf(ErrorMSG,"no GPS communication"); |
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285 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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286 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
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287 | newErrorCode = 5; |
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288 | } |
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41 | ingob | 289 | StopNavigation = 1; |
320 | holgerb | 290 | // UBX_Timeout = SetDelay(500); |
41 | ingob | 291 | } |
426 | holgerb | 292 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
293 | { |
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294 | LED_RED_ON; |
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295 | sprintf(ErrorMSG,"compass not calibr."); |
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296 | newErrorCode = 31; |
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297 | StopNavigation = 1; |
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298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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299 | } |
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254 | killagreg | 300 | else if(Compass_Heading < 0) |
41 | ingob | 301 | { |
302 | LED_RED_ON; |
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303 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 304 | newErrorCode = 6; |
41 | ingob | 305 | StopNavigation = 1; |
256 | killagreg | 306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 307 | } |
255 | killagreg | 308 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 309 | { |
310 | LED_RED_ON; |
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311 | sprintf(ErrorMSG,"FC spi rx error "); |
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328 | holgerb | 312 | newErrorCode = 8; |
213 | killagreg | 313 | StopNavigation = 1; |
199 | killagreg | 314 | } |
255 | killagreg | 315 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 316 | { |
317 | LED_RED_ON; |
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318 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 319 | newErrorCode = 20; |
232 | killagreg | 320 | } |
255 | killagreg | 321 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 322 | { |
323 | LED_RED_ON; |
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324 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 325 | newErrorCode = 7; |
41 | ingob | 326 | } |
489 | killagreg | 327 | else if(ErrorGpsFixLost) |
328 | holgerb | 328 | { |
489 | killagreg | 329 | LED_RED_ON; |
330 | sprintf(ErrorMSG,"GPS Fix lost "); |
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331 | newErrorCode = 21; |
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328 | holgerb | 332 | } |
330 | holgerb | 333 | else if(ErrorDisturbedEarthMagnetField) |
334 | { |
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489 | killagreg | 335 | LED_RED_ON; |
336 | sprintf(ErrorMSG,"Magnet error "); |
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337 | newErrorCode = 22; |
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338 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
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339 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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330 | holgerb | 340 | } |
472 | holgerb | 341 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
338 | holgerb | 342 | { |
489 | killagreg | 343 | LED_RED_ON; |
344 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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345 | newErrorCode = 23; |
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346 | DebugOut.StatusRed |= AMPEL_BL; |
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338 | holgerb | 347 | } |
472 | holgerb | 348 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
338 | holgerb | 349 | { |
489 | killagreg | 350 | u16 i; |
351 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
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352 | LED_RED_ON; |
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353 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
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354 | newErrorCode = 32; |
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355 | DebugOut.StatusRed |= AMPEL_BL; |
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472 | holgerb | 356 | } |
357 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
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358 | { |
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489 | killagreg | 359 | LED_RED_ON; |
360 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
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361 | newErrorCode = 24; |
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362 | DebugOut.StatusRed |= AMPEL_BL; |
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338 | holgerb | 363 | } |
491 | killagreg | 364 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | holgerb | 365 | { |
489 | killagreg | 366 | LED_RED_ON; |
367 | sprintf(ErrorMSG,"ERR:GPS range "); |
||
368 | newErrorCode = 25; |
||
369 | DebugOut.StatusRed |= AMPEL_NC; |
||
348 | holgerb | 370 | } |
397 | holgerb | 371 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
350 | holgerb | 372 | { |
489 | killagreg | 373 | LED_RED_ON; |
374 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
||
375 | newErrorCode = 26; |
||
376 | DebugOut.StatusRed |= AMPEL_NC; |
||
350 | holgerb | 377 | } |
383 | holgerb | 378 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
351 | holgerb | 379 | { |
489 | killagreg | 380 | LED_RED_ON; |
381 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
||
382 | newErrorCode = 27; |
||
383 | DebugOut.StatusRed |= AMPEL_NC; |
||
384 | SD_LoggingError = 0; |
||
351 | holgerb | 385 | } |
355 | holgerb | 386 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
387 | { |
||
489 | killagreg | 388 | LED_RED_ON; |
389 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
||
390 | newErrorCode = 29; |
||
391 | DebugOut.StatusRed |= AMPEL_NC; |
||
355 | holgerb | 392 | } |
420 | holgerb | 393 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
489 | killagreg | 394 | { |
395 | LED_RED_ON; |
||
396 | sprintf(ErrorMSG,"No GPS Fix "); |
||
397 | newErrorCode = 30; |
||
398 | holgerb | 398 | } |
41 | ingob | 399 | else // no error occured |
400 | { |
||
401 | StopNavigation = 0; |
||
402 | LED_RED_OFF; |
||
489 | killagreg | 403 | if(no_error_delay) { no_error_delay--; } |
404 | else |
||
405 | { |
||
406 | sprintf(ErrorMSG,"No Error "); |
||
407 | ErrorCode = 0; |
||
408 | } |
||
41 | ingob | 409 | } |
328 | holgerb | 410 | |
411 | if(newErrorCode) |
||
489 | killagreg | 412 | { |
339 | holgerb | 413 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
328 | holgerb | 414 | ErrorCode = newErrorCode; |
415 | } |
||
416 | FC.Error[0] = 0; |
||
417 | FC.Error[1] = 0; |
||
418 | FC.Error[2] = 0; |
||
419 | FC.Error[3] = 0; |
||
420 | FC.Error[4] = 0; |
||
421 | ErrorGpsFixLost = 0; |
||
41 | ingob | 422 | } |
24 | StephanB | 423 | |
378 | holgerb | 424 | |
425 | |||
484 | holgerb | 426 | u8 Polling(void) |
378 | holgerb | 427 | { |
489 | killagreg | 428 | static u8 running = 0, oldFcFlags = 0, count5sec; |
429 | static u32 old_ms = 0; |
||
430 | |||
431 | if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
||
432 | running = 1; |
||
433 | |||
434 | if(CountMilliseconds != old_ms) // 1 ms |
||
435 | { |
||
483 | holgerb | 436 | old_ms = CountMilliseconds; |
437 | Compass_Update(); // update compass communication |
||
438 | Analog_Update(); // get new ADC values |
||
439 | CalcHeadFree(); |
||
440 | } |
||
488 | holgerb | 441 | |
489 | killagreg | 442 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
443 | UART0_ProcessRxData(); // GPS process request |
||
444 | UART0_TransmitTxData(); // GPS send answer |
||
445 | UART1_ProcessRxData(); // PC process request |
||
446 | UART1_TransmitTxData(); // PC send answer |
||
447 | UART2_TransmitTxData(); // FC send answer |
||
448 | |||
449 | // ---------------- Error Check Timing ---------------------------- |
||
450 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
||
451 | { |
||
452 | if(CheckDelay(TimerCheckError)) |
||
380 | holgerb | 453 | { |
489 | killagreg | 454 | TimerCheckError = SetDelay(1000); |
455 | if(CompassValueErrorCount) CompassValueErrorCount--; |
||
456 | if(++count5sec == 5) |
||
457 | { |
||
453 | holgerb | 458 | count5sec = 0; |
457 | holgerb | 459 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
460 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
||
489 | killagreg | 461 | CountGpsProcessedIn5Sec = 0; |
462 | CountNewGpsDataIn5Sec = 0; |
||
463 | } |
||
380 | holgerb | 464 | } |
489 | killagreg | 465 | oldFcFlags = FC.StatusFlags; |
466 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
||
467 | |||
468 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
469 | |||
470 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
||
471 | if(SerialLinkOkay) SerialLinkOkay--; |
||
472 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
||
473 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
||
474 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
475 | } |
||
476 | running = 0; |
||
477 | if(!PollingTimeout) DebugOut.Analog[17]++; |
||
478 | return(0); |
||
378 | holgerb | 479 | } |
480 | |||
380 | holgerb | 481 | // the handler will be cyclic called by the timer 1 ISR |
482 | // used is for critical timing parts that normaly would handled |
||
483 | // within the main loop that could block longer at logging activities |
||
483 | holgerb | 484 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
154 | killagreg | 485 | { |
195 | killagreg | 486 | IENABLE; |
154 | killagreg | 487 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
489 | killagreg | 488 | |
489 | if(PollingTimeout == 0) |
||
380 | holgerb | 490 | { |
489 | killagreg | 491 | PollingTimeout = 5; |
492 | //if(Polling() == 0) DebugOut.Analog[16]++; |
||
493 | Polling(); |
||
380 | holgerb | 494 | } |
378 | holgerb | 495 | |
496 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
195 | killagreg | 497 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
498 | IDISABLE; |
||
378 | holgerb | 499 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
154 | killagreg | 500 | } |
501 | |||
41 | ingob | 502 | //---------------------------------------------------------------------------------------------------- |
503 | int main(void) |
||
504 | { |
||
489 | killagreg | 505 | |
506 | // static u32 ftimer =0; |
||
507 | // static u8 fstate = 0; |
||
456 | holgerb | 508 | // static File_t* f = NULL; |
489 | killagreg | 509 | |
510 | |||
41 | ingob | 511 | /* Configure the system clocks */ |
512 | SCU_Config(); |
||
513 | /* init VIC (Vectored Interrupt Controller) */ |
||
514 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
515 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
516 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
196 | killagreg | 517 | VIC_InitDefaultVectors(); |
518 | |||
119 | killagreg | 519 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 520 | TIMER1_Init(); |
521 | // initialize the LEDs (needs Timer 1) |
||
522 | Led_Init(); |
||
523 | // initialize the debug UART1 |
||
524 | UART1_Init(); |
||
110 | killagreg | 525 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 526 | // initialize timer 2 for servo outputs |
180 | killagreg | 527 | //TIMER2_Init(); |
41 | ingob | 528 | // initialize UART2 to FLIGHTCTRL |
529 | UART2_Init(); |
||
530 | // initialize UART0 (to MKGPS or MK3MAG) |
||
531 | UART0_Init(); |
||
134 | killagreg | 532 | // initialize adc |
533 | Analog_Init(); |
||
41 | ingob | 534 | // initialize SPI0 to FC |
535 | SPI0_Init(); |
||
469 | killagreg | 536 | // initialize i2c busses (needs Timer 1) |
489 | killagreg | 537 | I2CBus_Init(I2C0); |
538 | I2CBus_Init(I2C1); |
||
247 | killagreg | 539 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 540 | Fat16_Init(); |
156 | killagreg | 541 | // initialize NC params |
542 | NCParams_Init(); |
||
88 | killagreg | 543 | // initialize the settings |
544 | Settings_Init(); |
||
92 | killagreg | 545 | // initialize logging (needs settings) |
82 | killagreg | 546 | Logging_Init(); |
1 | ingob | 547 | |
362 | holgerb | 548 | LED_GRN_ON; |
41 | ingob | 549 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 550 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 551 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 552 | |
41 | ingob | 553 | GetNaviCtrlVersion(); |
338 | holgerb | 554 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
555 | DebugOut.StatusRed = 0x00; |
||
400 | holgerb | 556 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
149 | killagreg | 557 | |
242 | killagreg | 558 | Compass_Init(); |
270 | killagreg | 559 | |
400 | holgerb | 560 | GPS_Init(); |
561 | |||
314 | killagreg | 562 | #ifdef FOLLOW_ME |
563 | TransmitAlsoToFC = 1; |
||
564 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
565 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
||
566 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
||
567 | TransmitAlsoToFC = 0; |
||
568 | #else |
||
150 | killagreg | 569 | SPI0_GetFlightCtrlVersion(); |
570 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
41 | ingob | 571 | { |
461 | holgerb | 572 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
41 | ingob | 573 | LED_RED_ON; |
574 | } |
||
314 | killagreg | 575 | #endif |
213 | killagreg | 576 | // ---------- Prepare the isr driven |
154 | killagreg | 577 | // set to absolute lowest priority |
578 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
||
195 | killagreg | 579 | // enable interrupts |
154 | killagreg | 580 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 581 | |
250 | ingob | 582 | Debug_OK("START"); |
362 | holgerb | 583 | UART1_PutString("\r\n"); |
380 | holgerb | 584 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
585 | LED_GRN_ON; |
||
586 | LED_RED_OFF; |
||
460 | holgerb | 587 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
461 | holgerb | 588 | UART1_PutString("\r\n"); |
487 | holgerb | 589 | CompassValueErrorCount = 0; |
503 | holgerb | 590 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
154 | killagreg | 591 | for (;;) // the endless main loop |
41 | ingob | 592 | { |
484 | holgerb | 593 | PollingTimeout = 5; |
431 | killagreg | 594 | Polling(); |
500 | holgerb | 595 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
596 | if(FromFC_LoadWP_List) |
||
597 | { |
||
503 | holgerb | 598 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
599 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
600 | { |
||
502 | killagreg | 601 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
602 | { |
||
503 | holgerb | 603 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
604 | { |
||
605 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
||
606 | { // take actual position |
||
607 | if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
||
608 | } |
||
609 | else |
||
610 | { // take last target position |
||
611 | if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
||
612 | } |
||
613 | } |
||
502 | killagreg | 614 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
615 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
616 | BeepTime = 150; |
||
617 | } |
||
503 | holgerb | 618 | } |
504 | holgerb | 619 | FromFC_LoadWP_List = 0; |
620 | } |
||
500 | holgerb | 621 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
509 | holgerb | 622 | if(FromFC_Store_SingePoint) |
623 | { |
||
624 | FromFC_Store_SingePoint = 0; |
||
625 | } |
||
626 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
627 | if(FromFC_Load_SingePoint) |
||
628 | { |
||
629 | FromFC_Load_SingePoint = 0; |
||
630 | } |
||
631 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
431 | killagreg | 632 | // ---------------- Logging --------------------------------------- |
489 | killagreg | 633 | if(SD_WatchDog) |
431 | killagreg | 634 | { |
635 | SD_WatchDog = 30000; |
||
636 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
||
503 | holgerb | 637 | else |
638 | { |
||
639 | ToFC_MaxWpListIndex = 0; |
||
640 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
641 | } |
||
431 | killagreg | 642 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
643 | } |
||
489 | killagreg | 644 | |
645 | /* |
||
324 | killagreg | 646 | if(CheckDelay(ftimer)) |
647 | { |
||
648 | |||
431 | killagreg | 649 | static s8 filename[35]; |
650 | static u8 i = 0; |
||
651 | s8 dbgmsg[40]; |
||
324 | killagreg | 652 | |
489 | killagreg | 653 | |
654 | |||
324 | killagreg | 655 | ftimer = SetDelay(100); |
656 | if(FC.Poti[3]>100 && fstate == 0) |
||
657 | { |
||
658 | fstate = 1; |
||
431 | killagreg | 659 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
324 | killagreg | 660 | } |
661 | else if(FC.Poti[3]<100 && fstate == 2) |
||
662 | { |
||
663 | fstate = 3; |
||
664 | } |
||
665 | |||
666 | switch(fstate) |
||
667 | { |
||
668 | case 1: |
||
431 | killagreg | 669 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
670 | Debug(dbgmsg); |
||
324 | killagreg | 671 | f = fopen_(filename, 'a'); |
672 | if(f== NULL) Fat16_Init(); |
||
673 | fstate = 2; |
||
674 | break; |
||
675 | |||
676 | case 2: |
||
677 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
678 | break; |
||
489 | killagreg | 679 | |
324 | killagreg | 680 | case 3: |
431 | killagreg | 681 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
682 | Debug(dbgmsg); |
||
324 | killagreg | 683 | fclose_(f); |
684 | fstate = 0; |
||
685 | break; |
||
686 | |||
687 | default: |
||
688 | break; |
||
689 | } |
||
690 | } |
||
489 | killagreg | 691 | */ |
24 | StephanB | 692 | } |
1 | ingob | 693 | } |
438 | holgerb | 694 | //DebugOut.Analog[16] |